Advanced study in power System Analysis

Supervisors:
PROF.Dr. MOHAMED SHEBL MOHAMED
Dr. Nader Shawky ABD EL HAKEEM
Benha University, Faculty of Engineering (Shoubra),
Electrical Engineering Department.

Dr:N. Shawky
Power – Angle Relationship:
• Consider the Single Machine Infinite Bus (SMIB) system shown in Fig.

• In this the reactance X includes the reactance of the transmission line and the
synchronous reactance or the transient reactance of the generator. The sending
end voltage is then the internal emf of the generator. Let the sending and
receiving end voltages be given by Vs = V1∠δ, VR = V 2∠0

SMIB system

• The sending end real power and reactive power are then given by:

PS + jQS =
( )
V1V2 Sinδ + j V12 − V1V2 Cosδ
x
• Since the line is loss less, the real power dispatched from the sending end is equal
to the real power received at the receiving end. We can therefore write,
Dr:N. Shawky
 V1V2
Pe = PS = PR = Sinδ = Pmax Sinδ
x
• Where Pmax = V1 V2 / X is the maximum power that can be transmitted over the
transmission line. The power-angle curve is shown in Fig.. From this figure

• The increase in power increases the

angle between Vs , VR

• The maximum power at δ = 90

• The future increase in power forces

generator out of synchronism.

• the load power must be less than

max. power by 20-30%. Power-Angle Curve

Dr:N. Shawky
Swing Equation:
• The swing equation is the basic mathematical relation describing how the rotor
of a synchronous machine will move when there is a disturbance in the power
system.

• Consider a three phase synchronous alternator that is driven by a prime mover.

The swing equation in terms of per unit (P.u) is given by:
2𝐻𝐻 𝑑𝑑 2 𝛿𝛿
= 𝑃𝑃𝑚𝑚 − 𝑃𝑃𝑒𝑒 = 𝑃𝑃𝑎𝑎 (𝑝𝑝. 𝑢𝑢)
𝜔𝜔𝑠𝑠 𝑑𝑑𝑡𝑡 2
Where:
𝑃𝑃𝑚𝑚 : The mechanical power input (P.u).
𝑃𝑃𝑒𝑒 : The electrical power output (P.u).
𝑃𝑃𝑎𝑎 : The accelerating power (P.u).
𝐻𝐻 : The inertia constant (MW.sec/MVA).
𝛿𝛿 : The rotor angle (Elec. radians).
𝜔𝜔𝑠𝑠 : The rated synchronous speed (rad/sec).
Dr:N. Shawky
• In the swing equation for a generator, the input mechanical power from the
prime mover 𝑃𝑃𝑚𝑚 is considered constant.

• The electrical power output 𝑃𝑃𝑒𝑒 will determine whether the rotor accelerates,
decelerates, or remains at synchronous speed.

 At Equilibrium:

• The input ( mechanical power ) equals to the output ( electrical power ) of each
synchronous machine. In the case of any disturbance the above equality doesn't
hold leading to acceleration / deceleration of the machine rotor shaft.

• When 𝑃𝑃𝑒𝑒 equals 𝑃𝑃𝑚𝑚 , the machine operates at synchronous speed. When 𝑃𝑃𝑒𝑒
changes from this value, the rotor deviates from synchronous speed. Therefore,
this equation describes the behaviour of the rotor dynamics. The angle 𝛿𝛿 is the
angle of the internal 𝑒𝑒. 𝑚𝑚. 𝑓𝑓 of the generator and it dictates the amount of
power that can be transferred. This angle is therefore called the load angle.
Dr:N. Shawky
Transient Stability Assessment Technique:
Conventional Time Domain Method (CTDM)
 Numerical integration techniques can be applied to obtain approximate solution of
the swing equation.

 Many algorithms are available for numerical integration such as Euler’s method,
Modified Euler’s method and Runga-Kutta methods.

 The formulae for the Runga-Kutta fourth order approximation, for solution of two
first order differential equations are explained below.

𝑑𝑑𝑑𝑑 𝑃𝑃𝑚𝑚 − 𝑃𝑃𝑚𝑚𝑚𝑚𝑚𝑚 sin 𝛿𝛿

=
𝑑𝑑𝑑𝑑 𝑀𝑀
𝑑𝑑𝑑𝑑
= 𝜔𝜔
𝑑𝑑𝑑𝑑

 Starting from initial values 𝛿𝛿0 , 𝜔𝜔0 , 𝑡𝑡0 and a step size of ∆𝑡𝑡, the four
estimations are as follow:
Dr:N. Shawky
 𝑘𝑘1 = 𝜔𝜔0 ∆𝑡𝑡

First estimation: 𝑃𝑃𝑚𝑚 − 𝑃𝑃𝑚𝑚𝑚𝑚𝑚𝑚 sin 𝛿𝛿0

𝑙𝑙1 = ∆𝑡𝑡
𝑀𝑀

𝑙𝑙1
𝑘𝑘2 = 𝜔𝜔0 + ∆𝑡𝑡
2
Second estimation: 𝑘𝑘
𝑃𝑃𝑚𝑚 − 𝑃𝑃𝑚𝑚𝑚𝑚𝑚𝑚 sin 𝛿𝛿0 + 21
𝑙𝑙2 = ∆𝑡𝑡
𝑀𝑀
𝑙𝑙2
𝑘𝑘3 = 𝜔𝜔0 + ∆𝑡𝑡
2
Third estimation: 𝑘𝑘
𝑃𝑃𝑚𝑚 − 𝑃𝑃𝑚𝑚𝑚𝑚𝑚𝑚 sin 𝛿𝛿0 + 22
𝑙𝑙3 = ∆𝑡𝑡
𝑀𝑀
𝑘𝑘4 = 𝜔𝜔0 + 𝑙𝑙3 ∆𝑡𝑡

Fourth estimation: 𝑃𝑃𝑚𝑚 − 𝑃𝑃𝑚𝑚𝑚𝑚𝑚𝑚 sin 𝛿𝛿0 + 𝑘𝑘3

𝑙𝑙4 = ∆𝑡𝑡
𝑀𝑀

Dr:N. Shawky
 𝑘𝑘1 = 𝜔𝜔0 ∆𝑡𝑡

First estimation: 𝑃𝑃𝑚𝑚 − 𝑃𝑃𝑚𝑚𝑚𝑚𝑚𝑚 sin 𝛿𝛿0 − 𝐷𝐷𝜔𝜔0

𝑙𝑙1 = ∆𝑡𝑡
𝑀𝑀

𝑙𝑙1
𝑘𝑘2 = 𝜔𝜔0 + ∆𝑡𝑡
2
Second estimation: 𝑘𝑘 𝑙𝑙
𝑃𝑃𝑚𝑚 − 𝑃𝑃𝑚𝑚𝑚𝑚𝑚𝑚 sin 𝛿𝛿0 + 21 − 𝐷𝐷 𝜔𝜔0 + 21
𝑙𝑙2 = ∆𝑡𝑡
𝑀𝑀
𝑙𝑙2
𝑘𝑘3 = 𝜔𝜔0 + ∆𝑡𝑡
2
Third estimation: 𝑘𝑘 𝑙𝑙
𝑃𝑃𝑚𝑚 − 𝑃𝑃𝑚𝑚𝑚𝑚𝑚𝑚 sin 𝛿𝛿0 + 22 − 𝐷𝐷 𝜔𝜔0 + 22
𝑙𝑙3 = ∆𝑡𝑡
𝑀𝑀

𝑘𝑘4 = 𝜔𝜔0 + 𝑙𝑙3 ∆𝑡𝑡

Fourth estimation: 𝑃𝑃𝑚𝑚 − 𝑃𝑃𝑚𝑚𝑚𝑚𝑚𝑚 sin 𝛿𝛿0 + 𝑘𝑘3 − 𝐷𝐷 𝜔𝜔0 + 𝑙𝑙3

𝑙𝑙4 = ∆𝑡𝑡
𝑀𝑀

Dr:N. Shawky
 At the end of time step, the rotor angle 𝛿𝛿 and the rotor speed 𝜔𝜔 will be changed
using both equations below:

1
𝛿𝛿1 = 𝛿𝛿0 + 𝑘𝑘 + 2 ∗ 𝑘𝑘2 + 2 ∗ 𝑘𝑘3 + 𝑘𝑘4
6 1
1
𝜔𝜔1 = 𝜔𝜔0 + 𝑙𝑙 + 2 ∗ 𝑙𝑙2 + 2 ∗ 𝑙𝑙3 + 𝑙𝑙4
6 1

 The plot of 𝛿𝛿 versus 𝑡𝑡 is called the swing curve. Once the swing curve is known, the
stability of the system can be assessed.

Swing curves for stable, critical and unstable situations.

Dr:N. Shawky
• In Case 1, the rotor angle increases to a value below the maximum value, then
decreases. This case is considered transient stable.

• In Case 2, the rotor angle increases to a maximum value, then decreases.

This case is considered critical stable.

• In Case 3, the rotor angle continues to increase steadily until synchronism is

lost. This type of transient instability is referred to as first-swing instability.

Dr:N. Shawky
Dr:N. Shawky